void EXTI4_IRQHandler(void) //EXTernal interrupt routine PB4-Yaw
{
static unsigned short rc4a = 0, rc4b = 0;
//if (EXTI_GetITStatus(EXTI_Line4) != RESET)
if (EXTI->PR & (1 << 4))
{
DEBUG_PutChar('4');
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_4) == 1)
{
rc4a = TIM3->CNT;
}
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_4) == 0)
{
rc4b = TIM3->CNT;
}
unsigned short diff = rc4b - rc4a;
if ((diff > 1000) && (diff < 2000))
{
rc4 = (int)diff - 1000;
}
else
{
//rc4 = 0;
}
// EXTI3 interrupt pending?
//EXTI_ClearITPendingBit(EXTI_Line4); // clear pending interrupt
EXTI->PR |= (1 << 4); // clear pending interrupt
}
}
void EXTI3_IRQHandler(void) //EXTernal interrupt routine PB3-Pitch
{
static unsigned short rc3a, rc3b;
if (EXTI->PR & (1 << 3))
{
DEBUG_PutChar('3');
// EXTI3 interrupt pending?
EXTI->PR |= (1 << 3); // clear pending interrupt
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_3) == 1)
{
rc3a = TIM3->CNT;
}
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_3) == 0)
{
rc3b = TIM3->CNT;
}
unsigned short diff = rc3b - rc3a;
if ((diff > 1000) && (diff < 2000))
{
rc3 = (int)diff - 1000;
}
else
{
rc3 = 0;
}
}
}
void EXTI4_IRQHandler(void) //EXTernal interrupt routine PB4-Yaw
{
static unsigned short rc4a, rc4b;
if (EXTI->PR & (1 << 4))
{
DEBUG_PutChar('4');
// EXTI3 interrupt pending?
EXTI->PR |= (1 << 4); // clear pending interrupt
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_4) == 1)
{
rc4a = TIM3->CNT;
}
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_4) == 0)
{
rc4b = TIM3->CNT;
}
unsigned short diff = rc4b - rc4a;
if ((diff > 1000) && (diff < 2000))
{
rc4 = (int)diff - 1000;
}
else
{
rc4 = 0;
}
}
}
void EXTI2_IRQHandler(void) //EXTernal interrupt routine PC2-Pitch
{
static unsigned short rc2a, rc2b;
if (EXTI->PR & (1 << 2))
{
DEBUG_PutChar('2');
// EXTI2 interrupt pending?
EXTI->PR |= (1 << 2); // clear pending interrupt
if (GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_2) == 1)
{
rc2a = TIM3->CNT;
}
if (GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_2) == 0)
{
rc2b = TIM3->CNT;
}
unsigned short diff = rc2b - rc2a;
if ((diff > 1000) && (diff < 2000))
{
rc2 = (int)diff - 1000;
}
else
{
rc2 = 0;
}
}
}
/**************************************************************************
Function:
void DEBUG_PutString(char* data);
Summary:
Prints a string to the debug stream.
Description:
Prints a string to the debug stream.
Precondition:
None
Parameters:
None
Return Values:
None
Remarks:
None
**************************************************************************/
void DEBUG_PutString(char* data)
{
UINT16 i;
i = 0;
do
{
DEBUG_PutChar(data[i]);
} while(data[i++] != 0);
}
void EXTI2_IRQHandler(void) //EXTernal interrupt routine PC2-Pitch
{
static unsigned short rc2a = 0, rc2b = 0;
//if (EXTI_GetITStatus(EXTI_Line2) != RESET)
if (EXTI->PR & (1 << 2))
{
DEBUG_PutChar('2');
if (GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_2) == 1)
{
rc2a = TIM3->CNT;
}
if (GPIO_ReadInputDataBit(GPIOC, GPIO_Pin_2) == 0)
{
rc2b = TIM3->CNT;
}
unsigned short diff = rc2b - rc2a;
if ((diff > 1000) && (diff < 2000))
{
rc2 = (int)diff - 1000;
}
else
{
//rc2 = 0;
}
// EXTI2 interrupt pending?
//EXTI_ClearITPendingBit(EXTI_Line2); // clear pending interrupt
EXTI->PR |= (1 << 2); // clear pending interrupt
}
}
